Sputum specimen collection robot and control method thereof

Abstract

The present invention discloses a sputum specimen collection robot, wherein a track is preset along the walking route of the device, a matching track wheel is arranged on the track, the wheel axle of the track wheel is fixed in the bearing of a base, a power motor for driving the wheel axle to rotate is arranged on the bottom surface of the base, a constant temperature box is fixed on the base, and at least one group of sampling mechanisms is arranged in the constant temperature box; the present invention has the advantages of high automation, medical personnel can complete the acquisition of sputum samples without contacting patients, and can pre-treat and crush the sputum samples, and can inactivate viruses at the same time, so that subsequent laboratory testing work will not cause external pollution and infection.

Description

Technical Field

[0001] The invention relates to the field of medical testing equipment. Background Art

[0002] At present, clinical analysis and examination of sputum and other body fluid specimens is an indispensable medical activity for clarifying the cause of disease and monitoring the condition. The collection and processing of specimens by clinicians and doctors in medical technology departments are related to the test results of specimens.

[0003] Respiratory diseases are generally contagious. When collecting samples, sputum testing is often required. Currently, sputum collection mostly requires medical staff to collect on-site. If the sample collected is contagious, even if the medical staff wear protective clothing, there is still a risk of infection, and it will also increase the consumption of protective supplies in the hospital. In addition, sputum has poor solubility, which is also Summary of the invention

[0004] The technical problem to be solved by the present invention is to realize an automatic sputum collection device which can prevent medical personnel from being exposed to viruses.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: a sputum specimen collection robot is provided with a track preset along the walking route of the robot, a matching track wheel is provided on the track, the wheel axle of the track wheel is fixed in the bearing of the base, a power motor for driving the wheel axle to rotate is provided on the bottom surface of the base, a constant temperature box is fixed on the base, and at least one set of sampling mechanisms is provided in the constant temperature box;

[0006] The sampling mechanism comprises an electric cylinder fixed on the top of the thermostatic box, a bracket located inside the thermostatic box and connected to the telescopic rod of the electric cylinder, a clamp fixed on the bracket, a collector, a fixing clamp fixed on the inner wall of the thermostatic box for clamping the collector shell, a sampling electric clamp for clamping the hose, a sample output electric clamp, and a crushing motor fixed on the bracket, the output shaft of the crushing motor is provided with a driving gear, the clamp clamps the push handle of the sampler, and the push rod of the sampler is provided with a driven gear meshing with the driving gear;

[0007] One end of the cylindrical shell of the sampler is provided with an end cover, and the other end is sealed by a back cover. A piston is provided in the shell, and the rear end of the piston is connected to one end of a push rod. A guide hole is provided in the center of the back cover. The other end of the push rod extends out of the shell through the guide hole and is connected to the push handle through a rotating shaft. A waste liquid outlet is provided on the end cover, and the waste liquid outlet is sealed by a sealing cover. A partition is provided near the front end of the shell, and the partition is a grid-shaped plate. A first filter membrane is fixed on the partition. Protruding sample ports are provided on the shells on both sides of the partition. A sponge layer is fixed on the piston, and scouring pad layers are provided on the facing surfaces of the sponge layer and the partition. Each of the sample ports is connected to a hose, and the hose extends to the outside of the thermostat through the hole at the bottom of the thermostat, and the sampling electric clamp and the sample output electric clamp respectively clamp a hose.

[0008] A specimen chamber and sampling chambers having the same number as the sampling mechanisms are provided at the bottom of the constant temperature box. The sample port on the outer shell between the partition and the end plate is a sample outlet for discharging liquid, and the other sample port is a sample inlet for inhaling liquid. Each hose connected to the sample inlet extends to one of the sampling chambers via a sampling electric clamp, and each hose connected to the sample outlet extends to the specimen chamber via a sample outlet electric clamp.

[0009] A temperature sensor and a temperature control mechanism for heating or cooling are arranged in the constant temperature box. The temperature sensor outputs a signal to a controller of the system, and the controller outputs a control signal to the temperature control mechanism.

[0010] A battery for powering all components is installed on the base, the controller is connected to the power motor via a signal line, the controller is connected to the electric cylinder, sampling electric clamp, sample output electric clamp, and crushing motor of the sampling mechanism via a signal line, the outer surface of the constant temperature box is provided with a touch screen, a camera and a speaker, the touch screen, camera and speaker are all connected to the controller via a signal line, and the controller is connected to a communication module for wireless communication with a remote control unit.

[0011] The sponge layer is filled with a pretreatment solution for pretreating the collected sample.

[0012] The end cover is a grid-shaped plate, the first filter membrane is fixed on the partition plate facing the rear cover, the scouring pad layer on the partition plate is fixed on the first filter membrane, and the end cover is provided with a second filter membrane on the side facing the partition plate, and the pores of the first filter membrane are larger than the pores of the second filter membrane.

[0013] Control method based on the sputum specimen collection robot:

[0014] Sampling control method:

[0015] Step 1: Drive to the target location via remote control;

[0016] Step 2: After the sampling start signal is triggered, the speaker emits a prompt sound;

[0017] Step 3: After the sampling signal is triggered, the sampling electric clamp is released and the sample output electric clamp is clamped;

[0018] Step 4: Drive the electric cylinder to pull up the push rod to set the stroke;

[0019] Sample control method:

[0020] Step 1: Drive to the target location via remote control;

[0021] Step 2: After the sample signal is triggered, the speaker emits a prompt sound;

[0022] Step 3: After the sample output signal is triggered, the sampling electric clamp is clamped and the sample output electric clamp is released;

[0023] Step 4: Drive the crushing motor to rotate and at the same time drive the electric cylinder to push the push rod downward to set the stroke.

[0024] The advantages of the present invention are that the degree of automation is high, and medical personnel can complete the acquisition of sputum samples without contact with patients, and can pre-treat and crush the sputum samples, and can inactivate viruses at the same time, so that subsequent laboratory testing work will not cause external pollution or infection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The following is a brief description of the contents expressed in each figure in the specification of the present invention and the marks in the figure:

[0026] Figure 1 Schematic diagram of the robot for collecting sputum specimens;

[0027] Figure 2 A schematic diagram of the structure of a collector used in conjunction with a sputum specimen collection robot;

[0028] The marks in the above figures are: 1. push handle; 2. push rod; 3. piston; 4. sponge layer; 5. first filter membrane; 6. partition; 7. second filter membrane; 8. end cover; 9. waste liquid cup; 10. waste liquid outlet; 11. sample outlet; 12. sample inlet; 13. shell; 14. guide hole; 15. back cover; 16. sealing cover; 17. scouring pad layer; 18. waste liquid collecting tank; 19. fixing clamp; 20. electric cylinder; 21. sampling chamber; 22. crushing motor; 23. driving gear; 24. specimen chamber; 25. sampling electric clamp; 26. sample output electric clamp; 27. constant temperature box 27. DETAILED DESCRIPTION

[0029] The following is a further detailed description of the specific implementation methods of the present invention, such as the shape, structure, relative position and connection relationship between the various components involved, the function and working principle of each part, the manufacturing process and operation method, etc., through the description of the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0030] The device is equipped with a traveling electric track trolley, that is, a track is preset along the traveling route, and matching track wheels are arranged on the track. The axle of the track wheel is fixed in the bearing of the base, and a power motor for driving the wheel axle to rotate is arranged on the bottom of the base. In this way, the trolley can be controlled by remote control to enter the collection area along the track, and the patient can complete the sampling work under the guidance of the device.

[0031] The base can sample a car body, and a constant temperature box 27 is fixed on the upper surface of the base. Figure 1 As shown, the thermostat 27 is a sealed box, the wall of which is filled with an insulation layer. The thermostat 27 is provided with a temperature sensor and a temperature control mechanism for heating or cooling, forming a mechanism that can keep the temperature in the box at a set temperature. The temperature sensor outputs a signal to the system controller, and the controller outputs a control signal to the temperature control mechanism. The controller obtains the temperature in the box and controls the temperature control mechanism to heat or cool, so as to provide a constant temperature storage environment for the sample. A box door is provided on one side of the thermostat 27, and the box door opening size is relatively large, so that it is convenient for the staff to place the collector.

[0032] At least one group of sampling mechanisms is provided in the thermostatic box 27. The sampling mechanisms are used to independently collect a group of samples. The structures of each group of sampling mechanisms are the same and are fixed side by side in the thermostatic box 27. The number of sampling mechanisms can be designed according to the size of the thermostatic box 27. The sampling mechanisms are provided with an electric cylinder 20 fixed on the top of the thermostatic box 27. The body of the electric cylinder 20 is fixed outside the thermostatic box 27. The telescopic rod extends vertically to the inside of the thermostatic box 27. A bracket is fixed on the telescopic rod. The bracket is provided with a clamp for clamping the collector push handle 1. The axis of the collector housing 13 is parallel to the axis of the telescopic rod of the electric cylinder 20. In this way, when the clamp clamps the push handle 1, the push rod 2 can be driven up and down by the electric cylinder 20 to realize sampling and sample output.

[0033] A fixing clamp 19 is also provided on the inner wall of the constant temperature box 27, and the fixing clamp 19 is used to clamp the outer shell 13 of the sampler. Each sampling mechanism is also equipped with two electric clamps, namely a sampling electric clamp 25 and a sample electric clamp 26. The two sample electric clamps are structures that can clamp the hose to make the hose conductive or closed. For example, an arc-shaped bracket can be sampled, and a rubber pressure block is provided above the bracket. The upper part of the pressure block is pressed down or lifted up by an electric cylinder 20 or a cylinder. By placing the hose on the bracket, the reliability of the opening and closing of the hose can be achieved.

[0034] Since sputum is viscous, in order to enable the sample to pass through the filter membrane, a crushing function needs to be added. The crushing function is achieved by a crushing motor 22 fixed to the bracket. A driving gear 23 is provided on the output shaft of the crushing motor 22. A driven gear meshing with the driving gear 23 is provided on the push rod 2 of the sampler. The push rod 2 and the push handle 1 of the sampler are connected by a rotating shaft and can rotate relative to each other. In this way, by driving the crushing motor 22 to rotate, the piston 3 can be driven to rotate, so that the internal rotation generates a rotational force to crush the sputum.

[0035] The bottom of the thermostat 27 is provided with a specimen chamber 24 and sampling chambers 21 having the same number as the sampling mechanism. The sample port on the housing 13 between the partition and the end plate is a sample outlet 11 for discharging liquid, and the other sample port is a sample inlet 12 for inhaling liquid. Each hose connected to the sample inlet 12 extends to one of the sampling chambers 21 through the sampling electric clamp 25, and each hose connected to the sample outlet 11 extends to the specimen chamber 24 through the sample outlet electric clamp 26. Each hose for sampling extends to one of the sampling chambers 21, and each hose for sample outlet extends to the specimen chamber 24. A waste liquid collection tank 18 is provided below the waste liquid outlet 10 of the collector, which is placed at the bottom of the thermostat 27. The waste liquid outlet 10 is sealed by a sealing cover. When it is necessary to discharge the waste liquid in the sampler, it is only necessary to remove the sealing cover and drive the electric cylinder 20 to push down, so that the remaining waste liquid in the sampler can be discharged to the waste liquid collection tank 18. The door of each sampling chamber 21 can be numbered or distinguished by different colors, so that patients can open the corresponding door according to the prompts and use the hose on the inner wall to extract samples without the need for medical personnel to operate. There are a large number of hoses in the specimen chamber 24, and a mark with a number can be attached to each hose to facilitate medical personnel or patients themselves to discharge the sample in the corresponding hose into the prepared container.

[0036] The entire device is powered by a battery fixed on the base. The controller is connected to the wireless communication module to realize remote control. The controller is connected to the crushing motor 22, power motor, electric cylinder 20, and electric clamp of the sampling mechanism through signal lines to control the operation of the entire system. The outer surface of the constant temperature box 27 is provided with a touch screen, a camera and a speaker. The touch screen, camera and speaker are all connected to the controller through signal lines. The touch screen can be used to operate trigger-related signals, the camera can be used for remote observation, and the speaker can emit prompt sounds.

[0037] like Figure 2As shown, the collector is provided with a cylindrical shell 13, one end of which is provided with an end cover 8, and the other end is sealed by a rear cover 15. A piston 3 is provided in the shell 13, and the rear end of the piston 3 is connected to one end of a push rod 2. A guide hole 14 is provided in the center of the rear cover 15. The other end of the push rod 2 extends out of the shell 13 through the guide hole 14 and is connected to the push handle 1. A waste liquid outlet 10 is provided on the end cover 8, forming a structure similar to that of a syringe.

[0038] The waste liquid outlet 10 includes a connecting cover and a liquid outlet. One side of the connecting cover is an open side, and the other side is connected to the liquid outlet. The edge of the open side of the connecting cover is fixed on the shell 13. The waste liquid outlet 10 has a circle of snap-fit ​​structure outside, and a waste liquid cup 9 is mounted on the snap-fit ​​structure.

[0039] A partition 6 is provided near the front end of the outer shell 13, and a first filter membrane 5 is fixed on the partition 6. The pores of the first filter membrane 5 cannot allow large molecular viruses to pass through, but can allow decomposed small molecules to pass through. Protruding sample ports are provided on the outer shell 13 on both sides of the partition 6. The sample port on the outer shell 13 between the partition 6 and the end plate is a sample outlet 11 for discharging liquid, and the other sample port is a sample inlet 12 for inhaling liquid. A sealing cover 16 is provided on the waste liquid outlet 10, the sample outlet 11 and the sample inlet 12. The sample outlet 11 and the sample inlet 12 are equipped with a rubber hose that is connected when the sealing cover 16 is removed. The sealing cover 16 is preferably a threaded cover structure, which can avoid detachment when the push rod 2 is pressed down, and can also ensure air tightness.

[0040] A sponge layer 4 is fixed on the piston 3, and the sponge layer 4 is filled with a pretreatment solution for pretreatment of the collected sample. The pretreatment solution is determined according to the type of sample. The partition 6 and the end cover 8 are grid-shaped plates. The first filter membrane 5 is fixed on the partition 6 facing the side of the back cover 15. The scouring pad layer 17 on the partition 6 is fixed on the first filter membrane 5. The end cover 8 is provided with a second filter membrane 7 on the side facing the partition 6, so that the partition 6 and the end cover 8 can support the filter membrane to prevent the filter membrane from falling off. The pores of the first filter membrane 5 are larger than the pores of the second filter membrane 7. The second filter membrane 7 can only allow water molecules to pass through, and the decomposed viruses cannot pass through, and remain in the processor, waiting for the unified treatment of medical waste in the future.

[0041] A scouring pad layer 17 is provided on the facing surfaces of the sponge layer 4 and the partition 6. The scouring pad layer 17 can interact with each other to crush the sputum, so that the sputum sample is fully processed and can quickly pass through the first filter membrane 5. The guide hole 14 is a circular hole, and the push rod 2 is a cylindrical rod-shaped structure. The outer diameter of the push rod 2 is smaller than the inner diameter of the guide hole 14, which is convenient for rotating the push rod 2. The push rod 2 is fixedly connected to the piston 3, which further drives the piston 3 and the scouring pad layer 17 above to rotate, thereby achieving the purpose of crushing the sputum.

[0042] A card slot is provided on the push rod 2, in which a plug-in that can be selectively inserted or removed is embedded. When the plug-in is inserted into the card slot, it serves as a limit mechanism for pushing the push rod 2 into the shell 13. When the plug-in contacts the back cover 15, there is a gap between the two scouring pad layers 17 to avoid operation, pushing the push rod 2 to squeeze out the pretreatment solution in the sponge layer 4.

[0043] The sampler is installed before use, and the used sampler (including the hose) is removed after use and discarded to a designated location. The control method of the sputum specimen collection robot is based on the above:

[0044] Sampling control method:

[0045] Step 1: Drive to the target location via remote control;

[0046] Step 2: After the sampling start signal is triggered, the speaker emits a prompt sound;

[0047] Step 3: After the sampling signal is triggered, the sampling electric clamp 25 is released and the sample output electric clamp 26 is clamped;

[0048] Step 4, driving the electric cylinder 20 to pull up the push rod 2 to set the stroke;

[0049] Sample control method:

[0050] Step 1: Drive to the target location via remote control;

[0051] Step 2: After the sample signal is triggered, the speaker emits a prompt sound;

[0052] Step 3: After the sample output signal is triggered, the sampling electric clamp 25 is clamped and the sample output electric clamp 26 is released;

[0053] Step 4, drive the crushing motor 22 to rotate, so that the two layers of scouring pad 17 crush the sputum, and at the same time drive the electric cylinder 20 to push the push rod 2 down to set the stroke.

[0054] In this mode of operation, the first filter membrane 5 cannot allow large virus molecules to pass through, and can only allow the virus to pass through after being inactivated and decomposed into small molecules, thus avoiding contamination; when coming out of the sampling area, the output liquid will not carry the acquired virus, and the second filter membrane 7 can only filter out water molecules, and other toxic and harmful impurities will remain in the collector.

[0055] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A sputum specimen collection robot, with a track preset along the robot's walking route, a matching track wheel is provided on the track, the wheel axle of the track wheel is fixed in the bearing of the base, and a power motor for driving the wheel axle to rotate is provided on the bottom surface of the base, characterized in that: A constant temperature box is fixed on the base, and at least one set of sampling mechanisms is arranged in the constant temperature box; The sampling mechanism comprises an electric cylinder fixed on the top of the thermostatic box, a bracket located inside the thermostatic box and connected to the telescopic rod of the electric cylinder, a clamp fixed on the bracket, a collector, a fixing clamp fixed on the inner wall of the thermostatic box for clamping the collector shell, a sampling electric clamp for clamping the hose, a sample output electric clamp, and a crushing motor fixed on the bracket, the output shaft of the crushing motor is provided with a driving gear, the clamp clamps the push handle of the sampler, and the push rod of the sampler is provided with a driven gear meshing with the driving gear; One end of the cylindrical shell of the sampler is provided with an end cover, and the other end is sealed by a back cover. A piston is provided in the shell, and the rear end of the piston is connected to one end of a push rod. A guide hole is provided in the center of the back cover. The other end of the push rod extends out of the shell through the guide hole and is connected to the push handle through a rotating shaft. A waste liquid outlet is provided on the end cover, and the waste liquid outlet is sealed by a sealing cover. A partition is provided near the front end of the shell, and the partition is a grid-shaped plate. A first filter membrane is fixed on the partition. Protruding sample ports are provided on the shells on both sides of the partition. A sponge layer is fixed on the piston, and scouring pad layers are provided on the facing surfaces of the sponge layer and the partition. Each of the sample ports is connected to a hose, and the hose extends to the outside of the thermostat through the hole at the bottom of the thermostat, and the sampling electric clamp and the sample output electric clamp respectively clamp a hose; The guide hole is a circular hole, the push rod is a cylindrical rod-shaped structure, and the outer diameter of the push rod is smaller than the inner diameter of the guide hole.

2. The sputum specimen collection robot according to claim 1, characterized in that: A specimen chamber and sampling chambers having the same number as the sampling mechanisms are provided at the bottom of the constant temperature box. The sample port on the outer shell between the partition and the end plate is a sample outlet for discharging liquid, and the other sample port is a sample inlet for inhaling liquid. Each hose connected to the sample inlet extends to one of the sampling chambers via a sampling electric clamp, and each hose connected to the sample outlet extends to the specimen chamber via a sample outlet electric clamp.

3. The sputum specimen collection robot according to claim 2, characterized in that: A temperature sensor and a temperature control mechanism for heating or cooling are arranged in the constant temperature box. The temperature sensor outputs a signal to a controller of the system, and the controller outputs a control signal to the temperature control mechanism.

4. The sputum specimen collection robot according to claim 3, characterized in that: A battery for powering all components is installed on the base, the controller is connected to the power motor via a signal line, the controller is connected to the electric cylinder, sampling electric clamp, sample output electric clamp, and crushing motor of the sampling mechanism via a signal line, the outer surface of the constant temperature box is provided with a touch screen, a camera and a speaker, the touch screen, camera and speaker are all connected to the controller via a signal line, and the controller is connected to a communication module for wireless communication with a remote control unit.

5. The sputum specimen collection robot according to any one of claims 1 to 4, characterized in that: The sponge layer is filled with a pretreatment solution for pretreating the collected sample.

6. The sputum specimen collection robot according to claim 5, characterized in that: The end cover is a grid-shaped plate, the first filter membrane is fixed on the partition plate facing the rear cover, the scouring pad layer on the partition plate is fixed on the first filter membrane, and the end cover is provided with a second filter membrane on the side facing the partition plate, and the pores of the first filter membrane are larger than the pores of the second filter membrane.

7. A control method for a sputum specimen collection robot according to any one of claims 1 to 6, characterized in that: Sampling control method: Step 1: Drive to the target location via remote control; Step 2: After the sampling start signal is triggered, the speaker emits a prompt sound; Step 3: After the sampling signal is triggered, the sampling electric clamp is released and the sample output electric clamp is clamped; Step 4: Drive the electric cylinder to pull up the push rod to set the stroke; Sample control method: Step 1: Drive to the target location via remote control; Step 2: After the sample signal is triggered, the speaker emits a prompt sound; Step 3: After the sample output signal is triggered, the sampling electric clamp is clamped and the sample output electric clamp is released; Step 4: Drive the crushing motor to rotate and at the same time drive the electric cylinder to push the push rod downward to set the stroke.

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